CN109080855A - A kind of Large Angle Attitude Maneuver phase plane control method and system - Google Patents
A kind of Large Angle Attitude Maneuver phase plane control method and system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
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- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/26—Guiding or controlling apparatus, e.g. for attitude control using jets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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- B64G1/00—Cosmonautic vehicles
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Abstract
The present invention proposes a kind of Large Angle Attitude Maneuver phase plane control method and system, carries out jet using thruster, carries out gesture stability based on error quaternion.This method and system are based on error quaternion and carry out target angular velocity tracing control: calculating error quaternion according to attitude quaternion and targeted attitude quaternary number, obtain Euler's shaft of error quaternion, design three axis target angular velocities；Measurement angular speed is made into poor, calculating angular speed deviation with target angular velocity；By angular speed deviation integration, angular deviation is obtained；According to angular deviation and angular speed deviation, phase plane control is carried out, thruster gesture stability jet pulsewidth is obtained；The method of the present invention and system avoid three axis coupling when large angle maneuver, reduce jet number and fuel consumption.
Description
Technical field
The present invention relates to a kind of Large Angle Attitude Maneuver phase plane control method and system more particularly to it is a kind of utilize thrust
Device carries out jet, attitude control method and system based on error quaternion, belongs to attitude control technology field.
Background technique
The common method of Large Attitude Angle Maneuver for Spacecraft is: according to spacecraft attitude quaternary number and targeted attitude quaternary number
Error quaternion is calculated, the vector section of error quaternion is taken, is used as three-axis attitude angular displacement after 2 times of amplification；Three axis of ontology is used
Property angular speed is as attitude angular velocity deviation；By three-axis attitude angular displacement and angular speed deviation, phase plane control method is inputted, it is defeated
Three axis attitude controlling jetting pulsewidth out.
The above-mentioned angular deviation calculated based on error quaternion and the angular speed deviation calculated based on inertia angular speed, small
When angular deviation, three axis angular deviations are approximately the integral of angular speed deviation；When carrying out Large Angle Attitude Maneuver, approximate integration
Relationship is invalid, and the angular speed of some axis can be coupled in the integral calculation of the angular deviation of other axis, leads to attitude maneuver mistake
Cheng Zhong, thruster jet is frequent, propellant expenditure increases.
Summary of the invention
Technology of the invention solves the problems, such as: overcome the deficiencies in the prior art, for using thruster carry out jet, be based on
The gesture stability of error quaternion proposes that a kind of error quaternion that is based on carries out target angular velocity tracking and controlling method and system,
Three axis coupling when large angle maneuver is avoided, jet number and fuel consumption are reduced.
The technical solution of the invention is as follows:
A kind of Large Angle Attitude Maneuver phase plane control method, this method be based on error quaternion carry out target angular velocity with
Track control, specific steps include:
(1) when setting the original state of spacecraft, three axis angular deviation a (0)=[0 0 0]T；
When (2) i-th of control period, i >=1 calculates error quaternion qBT(i)；
The error quaternion qBT(i) specifically:
qBT(1, i)=- qGI1·q(4,i)-qGI2·q(3,i)+qGI3·q(2,i)+qGI4·q(1,i)；
qBT(2, i)=qGI1·q(3,i)-qGI2·q(4,i)-qGI3·q(1,i)+qGI4·q(2,i)；
qBT(3, i)=- qGI1·q(2,i)+qGI2·q(1,i)-qGI3·q(4,i)+qGI4·q(3,i)；
qBT(4, i)=qGI1·q(1,i)+qGI2·q(2,i)+qGI3·q(3,i)+qGI4·q(4,i)；
Wherein: qBT(i)=[qBT(1,i)qBT(2,i)qBT(3,i)qBT(4,i)]TFor error quaternion, q (i)=[q (1,
i)q(2,i)q(3,i)q(4,i)]TThe attitude quaternion that period measurement obtains, q are controlled for i-thGI=[qGI1qGI2qGI3qGI4]T
For targeted attitude quaternary number.
When (3) i-th of control period, three axis target angular velocity ω are calculatedr(i)；
The three axis target angular velocity calculates as follows:
ωr(i)=d θ r [qBT(1,i)qBT(2,i)qBT(3,i)]T/norm([qBT(1,i)qBT(2,i)qBT(3,i)])；
Wherein: d θ r is synthesis target angular velocity, and function norm () is mod function.
When (4) i-th of control period, angular speed deviation ω is calculatedBT(i)；
The calculating of angular speed deviation is as follows:
ωBT(i)=ω (i)-ωr(i)；
Wherein: ω (i) is the angular speed that i-th of control period measurement obtains.
When (5) i-th of control period, calculate angular deviation a (i)；
Angular deviation calculates as follows:
A (i)=a (i-1)+ωBT(i)·Δt；
Wherein: Δ t is the control period.
When (6) i-th of control period, according to angular deviation a (i) and angular speed deviation ωBT(i), i-th of control week is carried out
The phase plane of phase controls, and obtains the thruster gesture stability jet pulsewidth in i-th of control period；
(7) for other control periods, circulation executes step (2)~(6), completes the phase plane control in corresponding control period
System obtains the thruster gesture stability jet pulsewidth in corresponding control period.
The invention also provides a kind of Large Angle Attitude Maneuver phase plane control systems, comprising:
Original state setup module: for setting the original state of spacecraft, three axis angular deviation a (0)=[0 00 are enabled
]T；
Error quaternion computing module: at i-th of control period, i >=1 to calculate error quaternion qBT(i)；
Error quaternion qBT(i) specifically:
qBT(1, i)=- qGI1·q(4,i)-qGI2·q(3,i)+qGI3·q(2,i)+qGI4·q(1,i)；
qBT(2, i)=qGI1·q(3,i)-qGI2·q(4,i)-qGI3·q(1,i)+qGI4·q(2,i)；
qBT(3, i)=- qGI1·q(2,i)+qGI2·q(1,i)-qGI3·q(4,i)+qGI4·q(3,i)；
qBT(4, i)=qGI1·q(1,i)+qGI2·q(2,i)+qGI3·q(3,i)+qGI4·q(4,i)；
Wherein: qBT(i)=[qBT(1,i)qBT(2,i)qBT(3,i)qBT(4,i)]TFor error quaternion, q (i)=[q (1,
i)q(2,i)q(3,i)q(4,i)]TThe attitude quaternion that period measurement obtains, q are controlled for i-thGI=[qGI1qGI2qGI3qGI4]T
For targeted attitude quaternary number.
Target angular velocity computing module: for calculating three axis target angular velocity ω at i-th of control periodr(i)；
The three axis target angular velocity calculates as follows:
ωr(i)=d θ r [qBT(1,i)qBT(2,i)qBT(3,i)]T/norm([qBT(1,i)qBT(2,i)qBT(3,i)])；
Wherein: d θ r is synthesis target angular velocity, and function norm () is mod function.
Angular speed deviation computing module: for calculating angular speed deviation ω at i-th of control periodBT(i)；
The calculating of angular speed deviation is as follows:
ωBT(i)=ω (i)-ωr(i)；
Wherein: ω (i) is the angular speed that i-th of control period measurement obtains.
Angular deviation computing module: for calculating angular deviation a (i) at i-th of control period；
Angular deviation calculates as follows: a (i)=a (i-1)+ωBT(i)·Δt；Wherein: Δ t is the control period.
Phase plane control module: according to the calculated result of angular deviation computing module and angular speed deviation computing module,
I-th of control period carries out the phase plane control in i-th of control period, obtains the thruster gesture stability in i-th of control period
Jet pulsewidth.
Compared with the prior art, the invention has the advantages that:
Large Angle Attitude Maneuver phase plane control method of the present invention, which is solved, carries out jet, based on error four using thruster
The gesture stability problem of first number.Error quaternion is calculated according to attitude quaternion and targeted attitude quaternary number, obtains error quaternary
Several Euler's shafts designs three axis target angular velocities；Measurement angular speed is made into poor, calculating angular speed deviation with target angular velocity；
By angular speed deviation integration, angular deviation is obtained；According to angular deviation and angular speed deviation, phase plane control is carried out, is pushed away
Power device gesture stability jet pulsewidth；This method avoid three axis couplings when large angle maneuver, reduce jet number and fuel
Consumption.
Detailed description of the invention
Fig. 1 is prior art control method attitude control thruster pulsewidth result.
Fig. 2 is control method attitude control thruster pulsewidth result of the present invention.
Fig. 3 is the method for the present invention flow chart.
Specific embodiment
The present invention proposes a kind of Large Angle Attitude Maneuver phase plane control method and system, using thruster carry out jet,
Gesture stability is carried out based on error quaternion.This method and system are based on error quaternion and carry out target angular velocity tracing control:
Error quaternion is calculated according to attitude quaternion and targeted attitude quaternary number, obtains Euler's shaft of error quaternion, design three
Axis target angular velocity；Measurement angular speed is made into poor, calculating angular speed deviation with target angular velocity；By angular speed deviation integration, obtain
To angular deviation；According to angular deviation and angular speed deviation, phase plane control is carried out, thruster gesture stability jet arteries and veins is obtained
It is wide.
It is of the invention that the specific implementation steps are as follows:
(1) when setting the original state of spacecraft, three axis angular deviation a (0)=[0 0 0]T；
When a control period of (2) i-th (i >=1), error quaternion q is calculatedBT(i):
qBT(1, i)=- qGI1·q(4,i)-qGI2·q(3,i)+qGI3·q(2,i)+qGI4·q(1,i)
qBT(2, i)=qGI1·q(3,i)-qGI2·q(4,i)-qGI3·q(1,i)+qGI4·q(2,i)
qBT(3, i)=- qGI1·q(2,i)+qGI2·q(1,i)-qGI3·q(4,i)+qGI4·q(3,i)
qBT(4, i)=qGI1·q(1,i)+qGI2·q(2,i)+qGI3·q(3,i)+qGI4·q(4,i)
Wherein: qBT(i)=[qBT(1,i)qBT(2,i)qBT(3,i)qBT(4,i)]TFor error quaternion, q (i)=[q (1,
i)q(2,i)q(3,i)q(4,i)]TThe attitude quaternion that period measurement obtains, q are controlled for i-thGI=[qGI1qGI2qGI3qGI4]T
For targeted attitude quaternary number；
When (3) i-th of control period, three axis target angular velocity ω are calculatedr(i), ωr(i)=d θ r [qBT(1,i)qBT
(2,i)qBT(3,i)]T/norm([qBT(1,i)qBT(2,i)qBT(3,i)])；
Wherein: d θ r is synthesis target angular velocity, is determined according to the time requirement of gyro range and attitude maneuver, function
Norm () is mod function；
When (4) i-th of control period, angular speed deviation ω is calculatedBT(i), ωBT(i)=ω (i)-ωr(i)；
Wherein: ω (i) is the angular speed that i-th of control period measurement obtains；
When (5) i-th of control period, calculate angular deviation a (i), a (i)=a (i-1)+ωBT(i)·Δt；
Wherein: Δ t is the control period；
When (6) i-th of control period, according to angular deviation a (i) and angular speed deviation ωBT(i), i-th of control week is carried out
The phase plane of phase controls, and obtains the thruster gesture stability jet pulsewidth in i-th of control period；
(7) for other control periods, circulation executes step (2)~(6), completes the phase plane control in corresponding control period
System obtains the thruster gesture stability jet pulsewidth in corresponding control period.
It is controlled in the prior art and by mature phase plane control method, of the invention thes improvement is that input
Input quantity to phase plane control method is improved, according to the above-mentioned angular deviation a (i) of such as present invention and angular speed deviation
ωBT(i) phase plane control is carried out, three axis coupling when large angle maneuver is can be avoided, reduces jet number and fuel disappears
Consumption.
Based on above-mentioned phase plane control method, the invention also provides a kind of controls of Large Angle Attitude Maneuver phase plane to be
System, comprising:
Original state setup module: for setting the original state of spacecraft, three axis angular deviation a (0)=[0 00 are enabled
]T；
Error quaternion computing module: at i-th of control period, i >=1 to calculate error quaternion qBT(i)；
Target angular velocity computing module: for calculating three axis target angular velocity ω at i-th of control periodr(i)；
Angular speed deviation computing module: for calculating angular speed deviation ω at i-th of control periodBT(i)；
Angular deviation computing module: for calculating angular deviation a (i) at i-th of control period；
Phase plane control module: according to the calculated result of angular deviation computing module and angular speed deviation computing module,
I-th of control period carries out the phase plane control in i-th of control period, obtains the thruster gesture stability in i-th of control period
Jet pulsewidth.
Embodiment
(1) prior art control method is used:
Control period Δ t=0.128, attitude quaternion q (1)=[0 10 0] measuredT, targeted attitude quaternary
Number qGI=[0 00 1]T, synthesize target angular velocity d θ r=0.008726.
As shown in Figure 1, for the attitude control thruster pulsewidth that uses the prior art to be calculated as a result, can be with from Fig. 1
Find out, the axis of rolling and yaw axis jet number are frequent.
(2) control method of the present invention is used:
Control period Δ t=0.128, attitude quaternion q (1)=[0 10 0] measuredT, targeted attitude quaternary
Number qGI=[0 00 1]T, synthesize target angular velocity d θ r=0.008726.
For controlling periodicity equal to 1.
Measure obtained attitude quaternion q (1)=[0 10 0]T, error quaternion q is calculatedBT(1)=[1 0
00]T；Three axis target angular velocity ω are calculatedr(1)=[0 0.008726 0]T；Measure obtained angular velocity omega (i)=[00
0]T；Angular speed deviation ω is calculatedBT(1)=[0-0.008726 0]T；Angular deviation a (1)=[0- is calculated
0.001116928 0]T；By angular deviation a (1) and angular speed deviation ωBT(1) phase plane controller is inputed to, this control is exported
Period attitude control thruster pulsewidth.
As shown in Fig. 2, being the attitude control thruster pulsewidth that is calculated using the method for the present invention as a result, can from Fig. 2
To find out, the axis of rolling and yaw axis jet number are less.
(3) comparison diagram 1 and Fig. 2 are it may be concluded that control method of the invention reduces jet number and fuel consumption.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (10)
1. a kind of Large Angle Attitude Maneuver phase plane control method, it is characterised in that: this method is based on error quaternion and carries out mesh
Angular speed tracing control is marked, specific steps include:
(1) when setting the original state of spacecraft, three axis angular deviation a (0)=[0 0 0]T；
When (2) i-th of control period, i >=1 calculates error quaternion qBT(i)；
When (3) i-th of control period, three axis target angular velocity ω are calculatedr(i)；
When (4) i-th of control period, angular speed deviation ω is calculatedBT(i)；
When (5) i-th of control period, calculate angular deviation a (i)；
When (6) i-th of control period, according to angular deviation a (i) and angular speed deviation ωBT(i), it carries out i-th and controls the period
Phase plane control, obtains the thruster gesture stability jet pulsewidth in i-th of control period；
(7) for other control periods, circulation executes step (2)~(6), completes the phase plane control in corresponding control period,
Obtain the thruster gesture stability jet pulsewidth in corresponding control period.
2. a kind of Large Angle Attitude Maneuver phase plane control method according to claim 1, it is characterised in that: the error
Quaternary number qBT(i) specifically:
qBT(1, i)=- qGI1·q(4,i)-qGI2·q(3,i)+qGI3·q(2,i)+qGI4·q(1,i)；
qBT(2, i)=qGI1·q(3,i)-qGI2·q(4,i)-qGI3·q(1,i)+qGI4·q(2,i)；
qBT(3, i)=- qGI1·q(2,i)+qGI2·q(1,i)-qGI3·q(4,i)+qGI4·q(3,i)；
qBT(4, i)=qGI1·q(1,i)+qGI2·q(2,i)+qGI3·q(3,i)+qGI4·q(4,i)；
Wherein: qBT(i)=[qBT(1,i) qBT(2,i) qBT(3,i) qBT(4,i)]TFor error quaternion, q (i)=[q (1, i)
q(2,i)q(3,i)q(4,i)]TThe attitude quaternion that period measurement obtains, q are controlled for i-thGI=[qGI1 qGI2 qGI3 qGI4
]TFor targeted attitude quaternary number.
3. a kind of Large Angle Attitude Maneuver phase plane control method according to claim 1, it is characterised in that: three axis
Target angular velocity calculates as follows:
ωr(i)=d θ r [qBT(1,i) qBT(2,i) qBT(3,i)]T/norm([qBT(1,i) qBT(2,i) qBT(3,i)])；
Wherein: d θ r is synthesis target angular velocity, and function norm () is mod function.
4. a kind of Large Angle Attitude Maneuver phase plane control method according to claim 1, it is characterised in that: angular speed is inclined
The calculating of difference is as follows:
ωBT(i)=ω (i)-ωr(i)；
Wherein: ω (i) is the angular speed that i-th of control period measurement obtains.
5. a kind of Large Angle Attitude Maneuver phase plane control method according to claim 1, it is characterised in that: angular deviation
It calculates as follows:
A (i)=a (i-1)+ωBT(i)·Δt；
Wherein: Δ t is the control period.
6. a kind of Large Angle Attitude Maneuver phase plane control system, characterized by comprising:
Original state setup module: for setting the original state of spacecraft, three axis angular deviation a (0)=[0 0 0] are enabledT；
Error quaternion computing module: at i-th of control period, i >=1 to calculate error quaternion qBT(i)；
Target angular velocity computing module: for calculating three axis target angular velocity ω at i-th of control periodr(i)；
Angular speed deviation computing module: for calculating angular speed deviation ω at i-th of control periodBT(i)；
Angular deviation computing module: for calculating angular deviation a (i) at i-th of control period；
Phase plane control module: according to the calculated result of angular deviation computing module and angular speed deviation computing module, at i-th
The period is controlled, the phase plane control in i-th of control period is carried out, obtains the thruster gesture stability jet in i-th of control period
Pulsewidth.
7. a kind of Large Angle Attitude Maneuver phase plane control system according to claim 6, it is characterised in that: the error
Quaternary number qBT(i) specifically:
qBT(1, i)=- qGI1·q(4,i)-qGI2·q(3,i)+qGI3·q(2,i)+qGI4·q(1,i)；
qBT(2, i)=qGI1·q(3,i)-qGI2·q(4,i)-qGI3·q(1,i)+qGI4·q(2,i)；
qBT(3, i)=- qGI1·q(2,i)+qGI2·q(1,i)-qGI3·q(4,i)+qGI4·q(3,i)；
qBT(4, i)=qGI1·q(1,i)+qGI2·q(2,i)+qGI3·q(3,i)+qGI4·q(4,i)；
Wherein: qBT(i)=[qBT(1,i) qBT(2,i) qBT(3,i) qBT(4,i)]TFor error quaternion, q (i)=[q (1, i)
q(2,i) q(3,i) q(4,i)]TThe attitude quaternion that period measurement obtains, q are controlled for i-thGI=[qGI1 qGI2 qGI3
qGI4]TFor targeted attitude quaternary number.
8. a kind of Large Angle Attitude Maneuver phase plane control system according to claim 6, it is characterised in that: three axis
Target angular velocity calculates as follows:
ωr(i)=d θ r [qBT(1,i) qBT(2,i) qBT(3,i)]T/norm([qBT(1,i) qBT(2,i) qBT(3,i)])；
Wherein: d θ r is synthesis target angular velocity, and function norm () is mod function.
9. a kind of Large Angle Attitude Maneuver phase plane control system according to claim 6, it is characterised in that: angular speed is inclined
The calculating of difference is as follows:
ωBT(i)=ω (i)-ωr(i)；
Wherein: ω (i) is the angular speed that i-th of control period measurement obtains.
10. a kind of Large Angle Attitude Maneuver phase plane control system according to claim 6, it is characterised in that: angle is inclined
Difference calculates as follows:
A (i)=a (i-1)+ωBT(i)·Δt；
Wherein: Δ t is the control period.
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| CN111026142A (en) * | 2019-12-11 | 2020-04-17 | 北京控制工程研究所 | Rapid attitude maneuver method and system under conditions of large interference and small inertia |
| CN114030654A (en) * | 2021-10-08 | 2022-02-11 | 北京控制工程研究所 | Atmosphere entering attitude control method based on pulse width modulation |
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| CN106379560A (en) * | 2016-08-30 | 2017-02-08 | 上海航天控制技术研究所 | Jet control method based on quaternion information |
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| CN111026142A (en) * | 2019-12-11 | 2020-04-17 | 北京控制工程研究所 | Rapid attitude maneuver method and system under conditions of large interference and small inertia |
| CN111026142B (en) * | 2019-12-11 | 2023-04-14 | 北京控制工程研究所 | Rapid attitude maneuver method and system under conditions of large interference and small inertia |
| CN114030654A (en) * | 2021-10-08 | 2022-02-11 | 北京控制工程研究所 | Atmosphere entering attitude control method based on pulse width modulation |
| CN114030654B (en) * | 2021-10-08 | 2023-06-06 | 北京控制工程研究所 | Atmospheric entry attitude control method based on pulse width modulation |
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